Model* ModelSimpleUAVPolarWind::createFromFile(const string& filename) const
{
Model *ret = NULL;
try {
ParseBlock modelData;
modelData.load(filename.c_str());
ret = createFromBlock(modelData);
} catch (std::runtime_error &e) {
std::cout << "ModelSimpleUAVPolarWind::create_from_file --> Error while loading data from file: ";
std::cout << e.what() << std::endl;
throw(e);
}
return ret;
}
ControllerSimpleGlider * ControllerSimpleGlider::createFromFile(const std::string& fileName) const {
//! \Note Dummy
ControllerSimpleGlider *ret = NULL;
try {
ParseBlock data;
data.load(fileName.c_str());
ret = createFromBlock(data);
} catch (std::runtime_error &e) {
std::cout << "ControllerSimpleGlider::createFromFile --> Error while loading data from file: ";
std::cout << e.what() << std::endl;
throw(e);
}
return ret;
}
results solveProblem(ArgumentData& arg, int max_cont, int id, int particles)
{
results ret_val;
ret_val.id = id;
FormattedTime t0, t1, t2;
t0.getTime();
t1.getTime();
// 1. Montecarlo simulation --> First make a montecarlo simulation of the whole system
Simulator *s = NULL;
try {
ParseBlock b;
b.load(arg[1].c_str());
s = new Simulator(b["simulator"]);
} catch (exception &e) {
cerr << "Error while loading the file. Content: " << e.what() << endl;
}
bool collision;
RealVector max_dev;
CRAlgorithmFactory alg_fac;
s->montecarlo(collision, particles, max_dev, false, false);
t2.getTime();
cout << "First simulation done. Spended time: " << t2 - t1 << endl;
ret_val.montecarlo.push_back(t2 - t1);
cout << "Max deviations: " << max_dev.toString() << endl;
if (arg.isOption("export_original")) {
string s_;
arg.getOption("export_original", s_);
cout << "Exporting original trajectories to: " << s_ << endl;
s->exportTrajectory(s_);
}
if (!collision) {
cout << "No collision has been found.\n";
return ret_val;
}
CRAlgorithm *alg = alg_fac.createFromFile(arg.at(1));
CRGenetics *algorithm = dynamic_cast<CRGenetics *>(alg);
int cont = 0;
while (cont < max_cont && algorithm != NULL) {
double expansion = max_dev.at(0) + max_dev.at(1);
if (!collision) {
expansion = max_dev.at(0);
cout << "No collision in the last solution --> setting the expansion to: " << expansion << endl;
} else {
cout << "Collision --> setting the expansion to: " << expansion << endl;
}
algorithm->getSimulator()->expandGeometries(expansion);
vector<double > original_geo = algorithm->getSimulator()->getGeometries().at(0);
t1.getTime();
CRAlgorithmStatistics stats = algorithm->execute_one_vs_all(s->getTrajectories(), cont == 0);
t2.getTime();
cout << "Algorithm executed. Expended time: " << t2 - t1 << "\n";
cout << "New plan: " << endl,
cout << algorithm->getSimulator()->getFlightPlans().at(0).toString() << endl;
ret_val.ga.push_back(t2 - t1);
ret_val.cost.push_back(stats.getMinObjetive());
t1.getTime();
// Set the new plan and simulate again!
s->setFlightPlans(algorithm->getSimulator()->getFlightPlans());
s->montecarlo_1_vs_all(collision, particles, max_dev, false);
t2.getTime();
cout << "Montecarlo executed. Expended time: " << t2 - t1 << ". ";
ret_val.montecarlo.push_back(t2 - t1);
if (collision) {
cout << "Collision found\n";
ret_val.collision.push_back(1);
} else {
cout << "NO Collision found\n";
ret_val.collision.push_back(0);
}
cout << "Max deviations: " << max_dev.toString() << endl;
cont++;
algorithm->getSimulator()->expandGeometries(-expansion);
}
t2.getTime();
cout << endl << "TOTAL Time: " << t2 - t0 << endl;
ret_val.time = t2-t0;
if (algorithm == NULL) {
cerr << "Could not create the algorithm instance of the problem\n";
}
// Free memory
delete algorithm;
delete s;
return ret_val;
}
int main(int argc, char **argv) {
ArgumentData arg(argc,argv);
if (argc < 2) {
cerr << "Use: " << arg.at(0) << "<input_filename>" << endl;
return 1;
} else {
if (arg.isOption("simulation")) {
UAVFactory fac;
UAV *uav = NULL;
try {
ParseBlock block;
block.load(arg.at(1).c_str());
uav = fac.create_from_block(block["uav"]);
} catch (exception &e) {
cerr << "main:: Exception while loading data\n";
}
if (uav != NULL) {
cout << uav->toString() << endl;
for (int i = 0; i < 100; i++) {
uav->actualize();
}
cout << uav->toString() << endl;
}
} else if (arg.isOption("time-slot")) {
cout << "Performing time slot testing.\n";
TimeSlotList list;
double min_dist = 5.0;
double max_altitude = 250.0;
try {
ParseBlock block;
block.load(arg.at(1).c_str());
ParseBlock::Blocks *slots = block.getBlocks("timeslot");
if (block.hasProperty("min_dist")) {
min_dist = block("min_dist").as<double>();
}
cout << "Min dist = " << min_dist << endl;
if (block.hasProperty("max_altitude")) {
max_altitude = block("max_altitude").as<double>();
}
cout << "Maximum altitude = " << max_altitude << endl;
ParseBlock::Blocks::iterator sl = slots->begin();
for (;sl != slots->end(); sl++) {
TimeSlot s(**sl);
cout << "Timeslot loaded: " << s.toString() << endl;
list.push_back(s);
}
} catch (exception &e) {
cerr << "main:: Exception while loading data\n";
exit(1);
}
// Perform the tests. Check the first with all the other
TimeSlotList::iterator it = list.begin();
it++;
TimeSlot &first = *list.begin();
cout << "Checking this with all the others. " <<first.toString() << endl;
for (;it != list.end(); it++) {
cout << "With: " << it->toString();
if (it->check(first.updraft_id, first.min_time, first.initial_altitude, first.ascending_rate, min_dist, max_altitude, first.uav_id)) {
cout << "Passes." << endl;
} else {
cout << "Fails." << endl;
}
}
} else {
URM *urm = NULL;
// double sleep_time;
cout << "Performing normal test.\n";
try {
ParseBlock data;
data.load(arg.at(1).c_str());
// Get the parameters of URM manager (updrafts, etc.)
if (!data.hasBlock("urm")) {
cerr << "The data faile has not urm data.\n";
exit(1);
}
urm = new URM(data["urm"]);
// sleep_time = 1.0; // Default sleep time
// if (data.hasProperty("uav_sleep")) {
// sleep_time = data("uav_sleep").as<double>();
// }
// Get the UAV data
ParseBlock::Blocks *uav_blocks = data.getBlocks("uav");
ParseBlock::Blocks::iterator uav_it = uav_blocks->begin();
int cont = 0;
// bool error = false;
simulator::FlightPlan plan;
int n_points = 0;
if (arg.isOption("random_wp")) {
arg.getOption("random_wp", n_points);
for (int i = 0; i < n_points; i++) {
functions::RealVector v(2, true);
v = v * 1000.0;
urm->addWaypoint(v);
}
}
for (;uav_it != uav_blocks->end(); uav_it++, cont++) {
// Get the UAV parameters
UAVFactory fac;
UAV *aux = fac.create_from_block(**uav_it);
if (!aux) {
cerr << "Error while loading UAV " << cont << " data.\n";
continue;
}
aux->id = cont;
// Then the planner parameters
SoaringPlanner *aux_planner = NULL;
if ((*uav_it)->hasBlock("planner")) {
SoaringPlannerFactory fac_planner;
aux_planner = fac_planner.createFromBlock( (**uav_it)["planner"] );
if (aux_planner != NULL) {
aux_planner->setURM(urm);
aux_planner->setUAV(aux);
}
functions::FormattedTime t0;
t0.getTime();
if (aux_planner != NULL && aux_planner->execute(plan)) {
functions::FormattedTime t1;
t1.getTime();
cout << "Output flight plan: " << plan.toString() << endl;
cout << "Expended time: " << t1 - t0 << endl;
} else {
cout << "The planner failed.\n";
}
}
}
} catch (exception &e) {
cerr << "main:: Exception while loading data\n";
}
}
}
return 0;
}
